Stiffness Control of Antagonistically Driven Joints Mechanism

• Yamashita Hiroshi

  Department of Mechanical Engineering, Tokai University

• Koganezawa Koichi

  Department of Mechanical Engineering, Tokai University

Bibliographic Information

Other Title

• 非線形弾性要素を有するアクチュエータ（ＡＮＬＥＳ）を用いた拮抗駆動型関節の剛性および姿勢制御
• ヒセンケイ ダンセイ ヨウソ オ ユウスル アクチュエータ ANLES オ モチイタ キッコウ クドウガタ カンセツ ノ ゴウセイ オヨビ シセイ セイギョ

Abstract

The paper presents a three DOF mechanical wrist that is capable to control its joint stiffness as well as joint angle by using the ANLES (Actuator with Non-Linear Elastic System). First it describes the structure of the ANLES followed by the designing method of the non-linear elasticity. Subsequently it shows the second machine of the wrist joint controlled by the ANLES of which size and weight are downsized nearly a half compared to the first machine. Next it presents a new ANLES (we call V-ANLES) that has a viscosity to suppress vibrations caused by the elasticity. It follows the experimental results of the step-response of the joint to show the V-ANLES successfully diminishes the overshoot. Finally it shows the experimental results to rotate the wrist joint about Z-axis by using the four ANLES.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 29 (2), 192-200, 2011

  The Robotics Society of Japan

Keywords

• Antagonistic Driving
• Stiffness Control
• Nonlinear Elasticity

Details

• CRID: 1390001204728579840
• NII Article ID: 10027810500
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.29.192
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 11048184
• Web Site: http://id.ndl.go.jp/bib/11048184
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I11048184
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed